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Goal for today : get the hip junction done. My idea for this vehicule's is that the hip and knee for each leg are each powered by a different engine, while the foot and ankle articulations are powered by way of hydrolic actuators.

Engine A powers the Hip, but the energy to power the knee has to go from Engine B through the hip articulation, by way of a ball joint transmition. The hip shield drives the leg left and right, pushed by a pair of actuators. I'm starting to believe I'm overthinking this a bit.

So here is a top view with all the parts piled up.

The red part, i'll call the hip distributor, rotates up and down, sliding against the orange part, which is Engine B, and on the other side the leg, in lime green, pivots left to right against the distributor, driven by the teal part.

Teal part is attached to the hip shield, in green, and follows the leg up and down. The shield is driven left and right.

Hip distributor has to rotate about 120° along its horizontal axis, and the leg has to rotate sideway about 60°.